Disturbance Estimation and Rejection Based Predictive Control for Networked Control Systems

The paper investigates disturbance rejection based control for networked control systems (NCSs) with communication delays. A combination of networked predictive control (NPC) and disturbance rejection methods, is developed for the considered NCSs. First, we construct the Luenberger observers to estimate the states of the system as well as disturbances. Next, based on the observers and NPC method, the impact of communication delays is effectively compensated. Finally, effectiveness of the developed NPC with disturbance rejection technology is verified via a car-like vehicle example in path tracking control problem.